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Trusted positioning data are very important for the fusion of Bluetooth fingerprint positioning (BFP) and Wi-Fi fingerprint positioning (WFP). This paper proposes an adaptive Bluetooth/Wi-Fi fingerprint positioning method based on Gaussian process regression (GPR) and relative distance (RD), which can choose trusted positioning results for fusion. In the offline stage, measurements of the Bluetooth and Wi-Fi received signal strength (RSS) were collected to construct Bluetooth and Wi-Fi fingerprint databases, respectively. Then, fingerprint positioning error prediction models were built with GPR and data from the fingerprint databases. In the online stage, online Bluetooth and Wi-Fi RSS readings were matched with the fingerprint databases to get a Bluetooth fingerprint positioning result (BFPR) and a Wi-Fi fingerprint positioning result (WFPR). Then, with the help of RD and fingerprint positioning error prediction models, whether the positioning results are trusted was determined. The trusted result is selected as the position estimation result when there is only one trusted positioning result among the BFPR and WFPR. The mean is chosen as the position estimation result when both the BFPR and WFPR results are trusted or untrusted. Experimental results showed that the proposed method was better than BFP and WFP, with a mean positioning error of 2.06 m and a root-mean-square error of 1.449 m.

An Adaptive Bluetooth/Wi-Fi Fingerprint Positioning Method based on Gaussian Process Regression and Relative Distance